From 0c42d16063d32e8934017792adc7d5afab4181f4 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Tue, 9 Sep 2014 15:10:28 +0000
Subject: [PATCH] ros: azimut3 added az3_openni.launch file for easy
 modifications of the camera frame

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1674 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/azimut3/az3_bag_record.launch            | 13 +------------
 launch/azimut3/az3_db_record.launch             | 13 +------------
 launch/azimut3/az3_mapping_robot.launch         | 13 +------------
 .../az3_mapping_robot_kinect_odom.launch        | 13 +------------
 launch/azimut3/az3_openni.launch                | 17 +++++++++++++++++
 launch/azimut3/az3_remote_mapping_robot.launch  | 13 +------------
 6 files changed, 22 insertions(+), 60 deletions(-)
 create mode 100644 launch/azimut3/az3_openni.launch

diff --git a/launch/azimut3/az3_bag_record.launch b/launch/azimut3/az3_bag_record.launch
index 8fec9ac9..f092ec23 100644
--- a/launch/azimut3/az3_bag_record.launch
+++ b/launch/azimut3/az3_bag_record.launch
@@ -6,18 +6,7 @@
   <include file="$(find az3_bringup)/joystick.launch"/>
 
   <!-- OpenNI -->
-  <!-- Xtion -->
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
   
   <!-- Throttling messages -->
   <group ns="camera">
diff --git a/launch/azimut3/az3_db_record.launch b/launch/azimut3/az3_db_record.launch
index 296a15ea..904291de 100644
--- a/launch/azimut3/az3_db_record.launch
+++ b/launch/azimut3/az3_db_record.launch
@@ -7,18 +7,7 @@
   <include file="$(find az3_bringup)/joystick.launch"/>
 
   <!-- OpenNI -->
-  <!-- Xtion -->
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
   
   <!-- Throttling messages -->
   <group ns="camera">
diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index fd8a6089..3e54b9f9 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -6,18 +6,7 @@
   <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
   
   <!-- OpenNI -->
-  <!-- Xtion -->
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
 
   <!-- Throttling messages -->
   <group ns="camera">
diff --git a/launch/azimut3/az3_mapping_robot_kinect_odom.launch b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
index f0aff6a6..118f35e5 100644
--- a/launch/azimut3/az3_mapping_robot_kinect_odom.launch
+++ b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
@@ -6,18 +6,7 @@
   <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
   
   <!-- OpenNI -->
-  <!-- Xtion -->
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
 
   <!-- Throttling messages -->
   <group ns="camera">
diff --git a/launch/azimut3/az3_openni.launch b/launch/azimut3/az3_openni.launch
new file mode 100644
index 00000000..d6cd02f3
--- /dev/null
+++ b/launch/azimut3/az3_openni.launch
@@ -0,0 +1,17 @@
+
+<launch>
+
+  <!-- Xtion -->
+  <include file="$(find openni2_launch)/launch/openni2.launch">
+    <arg name="depth_registration" value="True" />
+    <arg name="rgb_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
+   <arg name="depth_camera_info_url"
+        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
+  </include>
+
+  <!-- Xtion frame -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
+      args="0.057 0.087 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+      
+</launch>
\ No newline at end of file
diff --git a/launch/azimut3/az3_remote_mapping_robot.launch b/launch/azimut3/az3_remote_mapping_robot.launch
index 52bb6b79..7a570c17 100644
--- a/launch/azimut3/az3_remote_mapping_robot.launch
+++ b/launch/azimut3/az3_remote_mapping_robot.launch
@@ -6,18 +6,7 @@
   <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->
   
   <!-- OpenNI -->
-  <!-- Xtion -->
-  <include file="$(find openni2_launch)/launch/openni2.launch">
-    <arg name="depth_registration" value="True" />
-    <arg name="rgb_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
-   <arg name="depth_camera_info_url"
-        value="file://$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
-  </include>
-
-  <!-- Xtion frame -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
-      args="0.077 0.067 0.185 0.0 0.0 0.0 /base_link /camera_link 100" />
+  <include file="$(find rtabmap)/launch/azimut3/az3_openni.launch"/>
 
   <!-- Throttling messages -->
   <group ns="camera">